refactored the new floorplan
new helper methods/operator toe geo classes
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kazu
188
floorplan/v2/Floorplan.h
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188
floorplan/v2/Floorplan.h
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#ifndef FLOORPLAN_H
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#define FLOORPLAN_H
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#include <string>
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#include <vector>
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#include <initializer_list>
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#include <unordered_map>
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#include "../../geo/Point3.h"
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#include "../../geo/Point2.h"
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namespace Floorplan {
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/** 3D polygon */
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struct Polygon2 {
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std::vector<Point2> points;
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Polygon2() : points() {;}
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Polygon2(const std::initializer_list<Point2> lst) : points(lst) {;}
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bool operator == (const Polygon2& o) const {return std::equal(o.points.begin(), o.points.end(), this->points.begin());}
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};
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/** additional type-info for obstacles */
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enum class ObstacleType {
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UNKNOWN,
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WALL,
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DOOR,
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WINDOW,
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HANDRAIL,
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PILLAR,
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_END,
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};
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/** all supported material types */
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enum class Material {
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UNKNOWN,
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CONCRETE,
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WOOD,
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DRYWALL,
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GLASS,
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_END,
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};
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/** types of outlines. either add or remove the selected region */
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enum class OutlineMethod {
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ADD,
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REMOVE,
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_END,
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};
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/** an AccessPoint located somewhere within the map */
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struct AccessPoint {
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std::string name;
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std::string mac;
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Point3 pos;
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AccessPoint() : name(), mac(), pos() {;}
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AccessPoint(const std::string& name, const std::string& mac, const Point3& pos) : name(name), mac(mac), pos(pos) {;}
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bool operator == (const AccessPoint& o) const {return (o.name == name) && (o.mac == mac) && (o.pos == pos);}
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};
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/** a beacon located somewhere within the map */
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struct Beacon {
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std::string name;
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std::string mac;
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Point3 pos;
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Beacon() : name(), mac(), pos() {;}
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Beacon(const std::string& name, const std::string& mac, const Point3& pos) : name(name), mac(mac), pos(pos) {;}
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bool operator == (const Beacon& o) const {return (o.name == name) && (o.mac == mac) && (o.pos == pos);}
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};
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/** a polygon denoting a floor's outline. is either added or removed */
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struct FloorOutlinePolygon {
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OutlineMethod method;
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std::string name;
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Polygon2 poly;
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FloorOutlinePolygon() : method(OutlineMethod::ADD), name(), poly() {;}
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FloorOutlinePolygon(const OutlineMethod method, const std::string& name, const Polygon2& poly) : method(method), name(name), poly(poly) {;}
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bool operator == (const FloorOutlinePolygon& o) const {return (o.method == method) && (o.name == name) && (o.poly == poly);}
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};
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/** base-class for one obstacle (wall, door, window, pillar, ..) within a floor */
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struct FloorObstacle {
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ObstacleType type;
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Material material;
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FloorObstacle() : type(), material() {;}
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FloorObstacle(const ObstacleType type, const Material material) : type(type), material(material) {;}
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virtual ~FloorObstacle() {;}
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};
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/** line obstacle */
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struct FloorObstacleLine : public FloorObstacle {
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Point2 from;
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Point2 to;
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FloorObstacleLine(const ObstacleType type, const Material material, const Point2 from, const Point2 to) : FloorObstacle(type, material), from(from), to(to) {;}
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FloorObstacleLine(const ObstacleType type, const Material material, const float x1, const float y1, const float x2, const float y2) : FloorObstacle(type, material), from(x1,y1), to(x2,y2) {;}
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};
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/** circle obstacle */
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struct FloorObstacleCircle : public FloorObstacle {
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Point2 center;
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float radius;
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FloorObstacleCircle(const ObstacleType type, const Material material, const Point2 center, const float radius) : FloorObstacle(type, material), center(center), radius(radius) {;}
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FloorObstacleCircle(const ObstacleType type, const Material material, const float cx, const float cy, const float radius) : FloorObstacle(type, material), center(cx,cy), radius(radius) {;}
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};
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/** one region (e.g. a room) within the floor, described using a polygon */
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struct FloorRegion {
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std::string name;
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Polygon2 poly;
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FloorRegion() : name(), poly() {;}
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FloorRegion(const std::string& name, const Polygon2& poly) : name(name), poly(poly) {;}
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};
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/** an image file that can be added to the map */
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struct UnderlayImage {
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std::string name;
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std::string filename;
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Point2 anchor;
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float scaleX;
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float scaleY;
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};
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/** a free key-value element */
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struct KeyValueElement {
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std::string empty;
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std::unordered_map<std::string, std::string> params;
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const std::string& getVal(const std::string& key) const {
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auto it = params.find(key);
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return (it == params.end()) ? (empty) : (it->second);
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}
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float getFloat(const std::string& key) const { return std::stof(getVal(key)); }
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void setVal(const std::string& key, const std::string& val) {
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params[key] = val;
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}
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void setFloat(const std::string& key, const float val) {
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params[key] = std::to_string(val);
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}
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};
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using FloorOutline = std::vector<FloorOutlinePolygon*>;
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using FloorObstacles = std::vector<FloorObstacle*>;
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using FloorAccessPoints = std::vector<AccessPoint*>;
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using FloorBeacons = std::vector<Beacon*>;
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using FloorRegions = std::vector<FloorRegion*>;
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using FloorUnderlays = std::vector<UnderlayImage*>;
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/** describes one floor within the map, starting at a given height */
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struct Floor {
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float atHeight; // the floor's starting height
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float height; // the floor's total height (from start)
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std::string name; // the floor's name
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FloorOutline outline; // the floor's outline (ground)
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FloorObstacles obstacles; // all obstacles (wall, door, window, ..) within the floor
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FloorRegions regions; // all regions within the floor (rooms, ...)
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FloorAccessPoints accesspoints;
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FloorBeacons beacons;
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FloorUnderlays underlays; // underlay images (used for map-building)
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//FloorKeyValue other; // other, free elements
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Floor() {;}
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Floor(const Floor& o) = delete;
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void operator = (const Floor& o) = delete;
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};
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/** describes the whole indoor map */
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struct IndoorMap {
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float width;
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float depth;
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std::vector<Floor*> floors;
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IndoorMap() {;}
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IndoorMap(const IndoorMap& o) = delete;
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void operator = (const IndoorMap& o) = delete;
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};
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}
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#endif // FLOORPLAN_H
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